roboto.time

Bases: roboto.compat.StrEnum

Well-known time units supported for timestamps in recording data.

TimeUnit.nano_multiplier()

Convert a time value to nanoseconds since Unix epoch (1970-01-01 00:00:00 UTC). Accepts various input formats (int, float, Decimal, str, datetime) and time units (seconds, milliseconds, microseconds, nanoseconds).

Notes

• int formatted value:

  • If not provided, unit defaults to Nanoseconds.
  • Any integer type is accepted, such as a numpy.int64 read out of a pandas or numpy column.
  • A bool is refused: it is an int in Python, and True would otherwise read as 1.

• float formatted value:

  • Not recommended due to potential for precision loss. If possible, pass value as str or decimal.Decimal instead.
  • If not provided, unit defaults to Seconds.

• decimal.Decimal formatted value:

  • If not provided, unit defaults to Seconds.
  • E.g., a ROS formatted timestamp in the form of decimal.Decimal(“<sec>.<nsec>”)).

• str formatted value:

  • If not provided, unit defaults to Seconds.
  • E.g., a ROS formatted timestamp in the form of “<sec>.<nsec>”).
  • ISO8601 timestamp strings (e.g. "2024-05-16T10:25:47Z") are also accepted; they are parsed via datetime.datetime.fromisoformat() and treated as the datetime branch below. The unit argument is ignored for ISO8601 input.

• datetime.datetime formatted value:

  • unit, if provided, is ignored. Datetimes are always converted from seconds to nanoseconds.
  • A datetime before 1970 converts to a negative number of nanoseconds.

Return timezone aware datetime.datetime object, now in UTC.